/****************************************************************************
*
*   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
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* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
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* 2. Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in
*    the documentation and/or other materials provided with the
*    distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
*    used to endorse or promote products derived from this software
*    without specific prior written permission.
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****************************************************************************/

/**
 * @file px4_custom_mode.h
 * PX4 custom flight modes
 *
 * @author Anton Babushkin <anton@px4.io>
 */

#ifndef PX4_CUSTOM_MODE_H_
#define PX4_CUSTOM_MODE_H_

#include <stdint.h>

enum PX4_CUSTOM_MAIN_MODE {
  PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
  PX4_CUSTOM_MAIN_MODE_ALTCTL,
  PX4_CUSTOM_MAIN_MODE_POSCTL,
  PX4_CUSTOM_MAIN_MODE_AUTO,
  PX4_CUSTOM_MAIN_MODE_ACRO,
  PX4_CUSTOM_MAIN_MODE_OFFBOARD,
  PX4_CUSTOM_MAIN_MODE_STABILIZED,
  PX4_CUSTOM_MAIN_MODE_RATTITUDE
};

enum PX4_CUSTOM_SUB_MODE_AUTO {
  PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
  PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
  PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
  PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
  PX4_CUSTOM_SUB_MODE_AUTO_RTL,
  PX4_CUSTOM_SUB_MODE_AUTO_LAND,
  PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
  PX4_CUSTOM_SUB_MODE_FOLLOW_TARGET
};

union px4_custom_mode {
  struct {
    uint16_t reserved;
    uint8_t main_mode;
    uint8_t sub_mode;
  }__attribute__((packed));
  uint32_t data;
  float data_float;
}__attribute__((packed));

#endif /* PX4_CUSTOM_MODE_H_ */
